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He said: “I’m thrilled to be joining the cast of Emmerdale to play the role of Frank. From what I understand, his life is fairly complicated and I’m looking forward to getting to know him and portraying this complex man.”

Frank is serving time in prison and is set to move to Emmerdale to forge a new relationship with his daughter Tracy, played by Amy Walsh.

Series producer Iain MacLeod is delighted to have signed Michael for the role, tipped to be a ratings winner.

He said: “The character of Frank is really fascinating: flawed, funny, flirtatious – even fatherly when it suits him.

“His tale is a story of a man trying to find redemption in the face of huge temptation.

“There’s a massive twist or two thrown in for good measure.

Emmerdale (Image: ITV)

“I’m thrilled that Michael is on board in the role. He is an actor of real skill and understatement and a brilliant addition to the cast.”

The star quit Robin of Sherwood at the height of his fame to take a role in a Broadway production of The Three Musketeers. But it was savaged by critics and closed after just nine performances. He then landed a role as Prince Michael in global hit Dynasty.

Despite his hits, Michael admits to struggling to find work in the past.

He told the Radio Times: “I’ve had very lean periods. Every actor has.

“There’s only a small percentage who will always work – the Tom Cruises and Judi Denchs and so forth.”